Type Design for Heavy-payload Forging Manipulators

Heavy-payload forging manipulators are mainly characterized by large load output and large capacitive-load input.The relationship between outputs and inputs,which will greatly influence the control and the reliability,is the key issue in type design for heavy-payload forging manipulators.In this paper,a type design method by considering the incidence relationship between output characteristics and actuator inputs is presented and used to design the mechanism for forging manipulators.The concept of modeling method based on the outputs tasks is defined and investigated.The principle of type design from the viewpoints of the relationship between output characteristics and actuator inputs is discussed.An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed.The incidence relationship matrix between outputs and inputs is also given.The design flow is obtained,and the incidence relationship between outputs and inputs for heavy-payload forging manipulators is divided into three parts after detailed understanding of the functional properties.Four types of mechanisms for heavy-payload forging manipulators are given,and the corresponding spatial mechanical sketches are also drawn,some new designed mechanisms have been adopted by company or used as prototype.These novel forging manipulators which satisfy certain functional requirements provide an effective help for the design of forging manipulators and patent application.

Slag design and optimization for iron capturing platinum group metals from alumina-based spent catalysts

Production of petrochemical catalysts accounts for one of the largest shares of platinum group metals(PGMs) consumption;thus,recycling of spent petrochemical catalysts holds great economic value.Conventionally,PGMs are recovered through hydrometallurgical processes which have a low recovery efficiency and produce a large amount of waste.In this regard,this paper proposed a method to use iron-capturing PGMs based on CaO-Al_(2)O_(3)-Na_(2)O slag.This method avoided the formation of Fe-Si alloy and achieved efficient enrichment of PGMs.The droplet force model showed that the recovery efficiency of PGMs could be improved if the slag had low density and low viscosity.Based on this result,FactSage software optimized the composition of slag.Furthermore,the effect of B_(2)O_(3) on the 1400 ℃ liquidus of CaO-Al_(2)O_(3)-Na_(2)O_(3)-B_(2)O_(3) phase diagram was revealed.Moreover,it was found that the recovery efficiency of PGMs exceeded 99% under the following optimized conditions:basicity of 1.0,20 wt%Na_(2)O,15 wt% B_(2)O_(3),15 wt% Fe,3 wt% C and a temperature range of 1400-1500℃.The thermodynamic model revealed the mechanism of iron capture.Different chemical bonds prevented the formation of bonds between the alloy and slag,resulting in the separation of the slag from the alloy.PGMs particles and iron microspheres had significant surface Gibbs free energy.Only when iron microspheres and PGMs particles collided and fused with each other to reduce their surface area could the Gibbs free energy of the system be reduced.

Discovery of dipeptidyl peptidase Ⅳ(DPP4) inhibitors based on a novel indole scaffold

Dipeptidyl peptidase Ⅳ（DPP4） inhibitors are proven in the treatment of type 2 diabetes.We designed and synthesized a series of novel indole compounds that selectively inhibit the activity of DPP4 over dipeptidyl peptidase 9（DPP9）（〉200 fold）.We further co-crystallized DPP4 with indole sulfonamide（compound 1） to confirm a proposed binding mode.Good metabolic stability of the indole compounds represents another positive attribute for further development.